CN104265844B - Full-depth tooth drives eccentric active-tooth transmission - Google Patents
Full-depth tooth drives eccentric active-tooth transmission Download PDFInfo
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- CN104265844B CN104265844B CN201410452208.7A CN201410452208A CN104265844B CN 104265844 B CN104265844 B CN 104265844B CN 201410452208 A CN201410452208 A CN 201410452208A CN 104265844 B CN104265844 B CN 104265844B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 69
- 238000009434 installation Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 19
- 210000000515 tooth Anatomy 0.000 description 57
- 239000003638 chemical reducing agent Substances 0.000 description 17
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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Abstract
The present invention relates to a kind of full-depth tooth and drive eccentric active-tooth transmission, it is provided with the first circular wheel and the second circular wheel in housing, first circular wheel is connected with the first axle, second circular wheel is connected with the second axle, first axle is provided with the first eccentric, first circular wheel is set in outside the first eccentric, first circular wheel is provided with the first circular hole that multiple circumference is uniform, second circular wheel is provided with multiple second circular hole, multiple eccentric oscillating tooth it is provided with between the first circular wheel and the second circular wheel, eccentric oscillating tooth includes eccentric knuckle-tooth, transmission knuckle-tooth and output knuckle-tooth, off-centre operation tooth rim is sheathed in the first circular hole to rotatable, output knuckle-tooth circumference is rotatable to be sheathed in the second circular hole, housing is fixedly provided with position-limited wheel, this position-limited wheel has circular Internal periphery, the transmission knuckle-tooth of each eccentric oscillating tooth coordinates with this circle Internal periphery inscribe simultaneously.The present invention is that full-depth tooth drives, and changed in the past only part tooth and carries out the theory of transmission, and made motion and power transmission easier, efficient.
Description
Technical field
The present invention relates to a kind of actuating device, drive eccentric active-tooth transmission particularly to a kind of full-depth tooth.
Background technology
Actuating device such as decelerator is widely used in the every field of national economy, as long as there being the occasion of start and stop campaign or rapid change will use it.Existing precision speed reduction device mainly has the principal modes such as involute speed reducer, cycloidal reducer, harmonic speed reducer, movable teeth reducer, cycloid planetary speed reducer (such as RV decelerator) by its textural classification.Fast development along with science and technology, the demand of high-performance and low-cost decelerator is increasing, particularly under the overall background of " machine substitute, industrial upgrading ", to industrial robot large speed ratio, in high precision, high efficiency, high-mechanic, the long-life, low cost decelerator demand be multiplied.The decelerator being presently used on industrial robot is mainly harmonic speed reducer and cycloidal type decelerator (particularly RV decelerator), and technology content and the manufacturing cost of both precision speed reduction devices are significantly high.Particularly RV decelerator, the requirement on machining accuracy of its Cycloidal Wheel, eccentric shaft with spline and gear ring is very high, it is necessary to special equipment and process technology, wherein only equipment investment, every hundreds of thousands, at most up to ten million units at least；For reaching decelerator high-performance high stability, also to carry out cycloidal profile being also satisfied certain matching relationship etc. between correction of the flank shape, each core component.In addition, current decelerator is in motor process, whether Involutes Gears Transmission or cyclo drive, Oscillating Tooth Gear Reducer, the number of teeth being simultaneously engaged between the gear teeth is generally 1 and arrives several teeth, although the cycloid tooth in Cycloidal Wheel or the oscillating tooth on oscillating tooth carrier are meshed up to half tooth at most with flank profil in theory, but essence also effectively engages with regard to 3,4 teeth after profile modification.In order to make motion stress equalization, often needing multi-disc Cycloidal Wheel interlaced arrangement, while improving stress and carrying, considerably increase manufacturing cost and difficulty of processing, these are all cause decelerator high cost, limit its extensive use and universal main cause.
Summary of the invention
In order to solve the deficiency of above-mentioned actuating device particularly decelerator, the present invention provides a kind of and processes the eccentric active-tooth transmission of full-depth tooth driving simple, that transmission efficiency is high.
The technical solution used in the present invention is:
A kind of full-depth tooth drives eccentric active-tooth transmission, including housing, housing is provided with the first axle and the second axle, the first circular wheel and the second circular wheel it is additionally provided with in housing, the first described circular wheel is connected with the first axle, second circular wheel is connected with the second axle, described first axle is provided with the first eccentric, first circular wheel is set in outside the first eccentric, first circular wheel is provided with the first circular hole that multiple circumference is uniform, second circular wheel is provided with multiple second circular holes corresponding with the first circular hole of the first circular wheel, it is additionally provided with and first between the first circular wheel and the second circular wheel, the multiple eccentric oscillating tooth that second circular hole is corresponding, described eccentric oscillating tooth includes eccentric knuckle-tooth, transmission knuckle-tooth and output knuckle-tooth, wherein eccentric knuckle-tooth is relative to transmission knuckle-tooth and output knuckle-tooth eccentric setting, and described eccentric knuckle-tooth, transmission knuckle-tooth and output knuckle-tooth position in the circumferential are relatively-stationary, off-centre operation tooth rim is sheathed in the first circular hole to rotatable, output knuckle-tooth circumference is rotatable to be sheathed in the second circular hole, it is fixedly provided with position-limited wheel at housing, this position-limited wheel has circular Internal periphery, described circular Internal periphery is positioned at first, between two circular wheel, and the transmission knuckle-tooth of described each eccentric oscillating tooth coordinates with this circle Internal periphery inscribe simultaneously.
Further, the distance between axle center and the first eccentric axle center of the first axle is equal to the distance between the axle center of the axle center of transmission knuckle-tooth and eccentric knuckle-tooth.
Further, described eccentric oscillating tooth includes central shaft and fixed installation first round on center shaft, second takes turns and third round, and first, second, third takes turns and respectively constitute described eccentric knuckle-tooth, transmission knuckle-tooth and output knuckle-tooth.
Further, the first described eccentric is connected by clutch shaft bearing and the first circular wheel.
Further, described clutch shaft bearing is cylinder roller bearing or needle bearing.
Further, the first described axle is provided with the outrigger shaft extended to the second circular wheel vertically, and the second described circular wheel is arranged on outrigger shaft by the second bearing.
Further, the first described axle is arranged on housing by the 3rd bearing, is provided with the first positioning sleeve between clutch shaft bearing and the 3rd bearing, is provided with the second positioning sleeve between clutch shaft bearing and the second bearing.
Further, the second described axle and the second circular wheel are wholely set, and are provided with the 4th bearing between the second axle and housing.
Further, the first described axle is power shaft, and the second axle is output shaft, and described actuating device constitutes decelerator.
Further, the first described axle is output shaft, and the second axle is power shaft, and described actuating device constitutes accelerator.
The present invention and common actuating device such as involute speed reducer, cycloidal reducer, cycloid in planet composite speed reducer (RV decelerator), movable teeth reducer, harmonic speed reducers etc. are compared, it is not only simple in structure, nucleus movement parts only have simplest circular composition, process very easy, there is no involute, the particular curve shapes such as cycloid, therefore special machine tool is not needed, application machine tool just can process these parts, overcome conventional decelerator and must process the drawback of particular curve with special purpose machine tool, greatly reduce difficulty of processing, processing cost, improve manufacture efficiency and economic benefit.
The actuating device of the present invention is that full-depth tooth drives, and changes conventional actuating device (such as decelerator) completely and only has part tooth to carry out the theory of transmission, makes motion and power transmission easier, efficient.
When circular Internal periphery is constant with the radii ratio of transmission knuckle-tooth, the actuating device of the present invention has the invariance of gear ratio and the transmutability of eccentric oscillating tooth number, thus according to the motion of actuating device and power demand, under the premise not affecting transmission gear ratio, drive characteristic, optimizing flexibly eccentric oscillating tooth number and the forms of distribution of actuating device, this is that other decelerator institute is incomparable and be difficult to.
Can only engaging each other transmission by part tooth in conventional decelerator motor process, all of tooth of decelerator of the present invention is involved in transmission, is full-depth tooth engaged transmission, owing to motion and power are directly passed to output shaft by eccentric oscillating tooth, not only the arm of force is big, and output moment of torsion is big and power stream is smooth and easy, in hgher efficiency.Again owing to each tooth is circumferentially uniformly distributed, stress is more uniform, it is possible to replaces conventional decelerator to need the axle of 2 or 3 calibration uniformly bias with an eccentric axle, has therefore been greatly reduced part manufacturing cost, manufacture difficulty, has improve manufacture efficiency.Its speed reducing ratio of the decelerator of the present invention is only relevant with the ratio of the radius of the transmission knuckle-tooth that inscribe coordinates and the radius of circular Internal periphery, how much unrelated the number of teeth participating in motion with decelerator is (certainly, certain tooth is had to participate in motion, otherwise can not constitute decelerator), it is incomparable that this is those that have previously been decelerator, is its unique distinction.
Accompanying drawing explanation
The detailed content of the present invention is described below in conjunction with drawings and Examples.
Fig. 1 is local mechanism the first transmission schematic diagram of the present invention.
Fig. 2 is local mechanism the second transmission schematic diagram of the present invention.
Fig. 3 is the mechanism driving schematic diagram of the present invention.
Fig. 4 is the schematic diagram that a kind of full-depth tooth of the embodiment of the present invention drives eccentric movable teeth reducer.
Wherein, 1 power shaft；11 first eccentrics；12 outrigger shafts；2 first circular wheel；21 first circular holes；3 second circular wheel；31 second circular holes；4 housings；5 eccentric oscillating tooths；51 eccentric knuckle-tooth；52 transmission knuckle-tooth；53 output knuckle-tooth；54 central shafts；6 position-limited wheels；61 circular Internal periphery；7 cylinder roller bearings；8 the 3rd bearings；9 first positioning sleeves；10 second positioning sleeves；101 second bearings；102 the 4th bearings；103 output shafts.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described:
Such as Fig. 3, shown in 4, embodiment of the present invention one full-depth tooth drives eccentric movable teeth reducer, including housing 4, housing 4 is provided with power shaft 1 and output shaft 103, power shaft 1 is arranged on housing 4 by the 3rd bearing 8, the first circular wheel 2 and the second circular wheel 3 it is additionally provided with in housing 4, described power shaft 1 is integrally formed with the first eccentric 11, first eccentric 11 is connected with the first circular wheel 2 by clutch shaft bearing and cylinder roller bearing 7, second circular wheel 3 is connected with output shaft 103 one, described power shaft 1 is provided with the outrigger shaft 12 extended to the second circular wheel 3 vertically, the second described circular wheel 3 is arranged on outrigger shaft 12 by the second bearing 101, first circular wheel 2 is provided with the first circular hole 21 that multiple (Fig. 2 show 9) circumference is uniform, second circular wheel 3 is provided with multiple second circular holes 31 corresponding with the first circular hole 21 of the first circular wheel 2, it is provided with the first positioning sleeve 9 between clutch shaft bearing and cylinder roller bearing 7 and the 3rd bearing 8, it is provided with the second positioning sleeve 10 between clutch shaft bearing and cylinder roller bearing 7 and the second bearing 101, the 4th bearing 102 it is provided with between output shaft 103 and housing 4, it is additionally provided with and first between the first circular wheel 2 and the second circular wheel 3, multiple (9) eccentric oscillating tooth 5 that second circular hole is corresponding, described eccentric oscillating tooth 5 includes eccentric knuckle-tooth 51, transmission knuckle-tooth 52 and output knuckle-tooth 53, wherein eccentric knuckle-tooth 51 is relative to transmission knuckle-tooth 52 and output knuckle-tooth 53 eccentric setting, and described eccentric knuckle-tooth 51, transmission knuckle-tooth 52 and output knuckle-tooth 53 position in the circumferential are relatively-stationary, eccentric knuckle-tooth 51 circumference is rotatable to be sheathed in the first circular hole 21, output knuckle-tooth 53 circumference is rotatable to be sheathed in the second circular hole 31, it is fixedly provided with position-limited wheel 6 at housing 4, this position-limited wheel 6 has circular Internal periphery 61, described circular Internal periphery 61 is positioned at first, two circular wheel 2, between 3, and the transmission knuckle-tooth 52 of described each eccentric oscillating tooth 5 coordinates with this circle Internal periphery 61 inscribe simultaneously.Motion and power are passed to power shaft 1 by motor, power shaft 1 drives the first circular wheel 2 to do eccentric motion, eccentric motion is passed to the eccentric knuckle-tooth 51 of eccentric oscillating tooth 5 by the first circular wheel 2, eccentric knuckle-tooth 51 passes motion to the transmission knuckle-tooth 52 of eccentric oscillating tooth 5 by the axis rotation around transmission knuckle-tooth 52, transmission knuckle-tooth 52 coordinates with circular Internal periphery 61 inscribe of position-limited wheel 6, circle Internal periphery 6 revolution of eccentric oscillating tooth 5 one edge is while around oneself axle center rotation, the movement locus in the center of circle of transmission knuckle-tooth 52 is a circle concentric with circular Internal periphery 61, output knuckle-tooth 53 is linked with output shaft 103 and stirs output shaft and motion and power are passed.
Decelerator total design kernel size to meet certain relation, referring to Fig. 1:
If the center of circle of eccentric knuckle-tooth is O1, the bias of output knuckle-tooth is O2, O1With O2Distance be eccentric distance e, when eccentric knuckle-tooth is with O1For center of circle r1During for radius, off-centre operation O2With O2For center of circle r2For radius, r2=r1+ e.Eccentric oscillating tooth is made up of transmission knuckle-tooth and eccentric knuckle-tooth and output knuckle-tooth three part, wherein O3For the center of circle of transmission knuckle-tooth, M is the center of circle of eccentric knuckle-tooth, M to O3Distance be eccentric distance e.Transmission knuckle-tooth is with O3For the center of circle, r is radius, along with O1Revolve round the sun while around oneself axle center rotation, certainly also corresponding to along with O for the circle that center of circle R is radius1Revolve round the sun while around oneself axle center rotation, two round O for the circle that center of circle R+2r is radius1Can simultaneously as circular Internal periphery, transmission knuckle-tooth revolves round the sun and rotation on them, it is also possible in two is as circular Internal periphery, and transmission knuckle-tooth revolves round the sun and rotation (referring to Fig. 2) on them.The center of circle O of power shaft1With its eccentric O2Wire length with the transmission knuckle-tooth center of circle O of eccentric oscillating tooth3Equal with the center of circle M wire length of eccentric knuckle-tooth it is all eccentric distance e and line is parallel to each other, the center of circle O of power shaft1Transmission knuckle-tooth center of circle O with eccentric oscillating tooth3Wire length with the eccentric O of power shaft2Equal with the length of the center of circle M line of eccentric knuckle-tooth being parallel to each other for R+r and line, they collectively form the quadric chain of parallelogram.Self have rotated N circle when transmission knuckle-tooth turns around around circular Internal periphery public affairs, on eccentric oscillating tooth, the movement locus of the eccentric point M of eccentric knuckle-tooth is N number of roulette, now for forming roulette identical with this, r1=N*e, r2=r1+ e.When power shaft turns over N+1 circle time, transmission knuckle-tooth turns around rotation N circle around circular Internal periphery just public affairs, and therefore gear ratio is N+1, it means that, power shaft to make transmission knuckle-tooth around circular Internal periphery from circling, and power shaft to turn over whole 360 degree of circumference and also want many 360/N degree.Owing to transmission knuckle-tooth and circular Internal periphery are determined by its radius r and R, 2 π * R=N*2 π * r are met when transmission knuckle-tooth does integral cycle rotating around circular Internal periphery, therefore the size of N is determined by the ratio of R/r, as long as meeting this ratio, can be achieved with the gear ratio determined, therefore, when we are under meeting the premise of ratio of R/r, reduce eccentric oscillating tooth number (be equivalent to common take out tooth), still without influence on the gear ratio of decelerator.Again owing to the decelerator of the present embodiment is that full-depth tooth drives, all transmission oscillating tooths are involved in transmission, even if taking out tooth, all participating in driving without the remaining eccentric oscillating tooth of impact, this is that other decelerator can not be compared, other decelerators, if such as involute teeth wheel decelerator, harmonic speed reducer remove a few tooth, moving just discontinuous, it is impossible to normal transmission, cycloidal reducer or movable teeth reducer are likely to motion unstability chatter and even interrupt motion.In addition, owing to full-depth tooth drives, eccentric oscillating tooth is uniformly distributed and carries out motion and power transmission with circular Internal periphery, a piece of circular wheel can be driven to replace conventional decelerator to need the axle of 2 or 3 calibration uniformly bias to drive the situation of multi-disc Cycloidal Wheel with an eccentric axle, simultaneously again because motion and power are directly passed to output shaft by eccentric oscillating tooth, the arm of force is big, output moment of torsion is big, power stream is smooth and easy, in hgher efficiency, not only significantly simplify structure and improve decelerator performance but also greatly reduce manufacturing cost and and difficulty of processing.
In diagram embodiment, eccentric oscillating tooth 5 is split, is first, second taken turns and third round by what central shaft 54 and close-fitting fixedly mounted on center shaft, and first, second, third takes turns and respectively constitute described eccentric knuckle-tooth, transmission knuckle-tooth and output knuckle-tooth.Certainly, eccentric oscillating tooth can also adopt integral type, the needs of this size seeing reality and processing.
In the present invention, when the first axle is as output shaft, when the second axle is as power shaft, above-mentioned deceleration device has reformed into accelerator.
The actuating device of the present invention can also be applied on the various device such as pump or motor.
Claims (10)
1. a full-depth tooth drives eccentric active-tooth transmission, including housing, housing is provided with the first axle and the second axle, it is characterized in that: in housing, be additionally provided with the first circular wheel and the second circular wheel, the first described circular wheel is connected with the first axle, second circular wheel is connected with the second axle, described first axle is provided with the first eccentric, first circular wheel is set in outside the first eccentric, first circular wheel is provided with the first circular hole that multiple circumference is uniform, second circular wheel is provided with multiple second circular holes corresponding with the first circular hole of the first circular wheel, it is additionally provided with and first between the first circular wheel and the second circular wheel, the multiple eccentric oscillating tooth that second circular hole is corresponding, described eccentric oscillating tooth includes eccentric knuckle-tooth, transmission knuckle-tooth and output knuckle-tooth, wherein eccentric knuckle-tooth is relative to transmission knuckle-tooth and output knuckle-tooth eccentric setting, and described eccentric knuckle-tooth, transmission knuckle-tooth and output knuckle-tooth position in the circumferential are relatively-stationary, off-centre operation tooth rim is sheathed in the first circular hole to rotatable, output knuckle-tooth circumference is rotatable to be sheathed in the second circular hole, it is fixedly provided with position-limited wheel at housing, this position-limited wheel has circular Internal periphery, described circular Internal periphery is positioned at first, between two circular wheel, and the transmission knuckle-tooth of described each eccentric oscillating tooth coordinates with this circle Internal periphery inscribe simultaneously.
2. full-depth tooth according to claim 1 drives eccentric active-tooth transmission, it is characterised in that:
Distance between the axle center of the first axle and the first eccentric axle center is equal to the distance between the axle center of the axle center of transmission knuckle-tooth and eccentric knuckle-tooth.
3. full-depth tooth according to claim 1 drives eccentric active-tooth transmission, it is characterized in that: described eccentric oscillating tooth includes central shaft and fixed installation first, second taking turns and third round on center shaft, first, second, third takes turns and respectively constitutes described eccentric knuckle-tooth, transmission knuckle-tooth and output knuckle-tooth.
4. full-depth tooth according to claim 1 drives eccentric active-tooth transmission, it is characterised in that: the first described eccentric is connected by clutch shaft bearing and the first circular wheel.
5. full-depth tooth according to claim 4 drives eccentric active-tooth transmission, it is characterised in that: described clutch shaft bearing is cylinder roller bearing or needle bearing.
6. full-depth tooth according to claim 1 drives eccentric active-tooth transmission, it is characterised in that: the first described axle is provided with the outrigger shaft extended to the second circular wheel vertically, and the second described circular wheel is arranged on outrigger shaft by the second bearing.
7. full-depth tooth according to claim 6 drives eccentric active-tooth transmission, it is characterized in that: the first described axle is arranged on housing by the 3rd bearing, between clutch shaft bearing and the 3rd bearing, it is provided with the first positioning sleeve, between clutch shaft bearing and the second bearing, is provided with the second positioning sleeve.
8. full-depth tooth according to claim 1 drives eccentric active-tooth transmission, it is characterised in that: the second described axle and the second circular wheel are wholely set, and are provided with the 4th bearing between the second axle and housing.
9. full-depth tooth according to claim 1 drives eccentric active-tooth transmission, it is characterised in that: the first described axle is power shaft, and the second axle is output shaft, and described actuating device constitutes decelerator.
10. full-depth tooth according to claim 1 drives eccentric active-tooth transmission, it is characterised in that: the first described axle is output shaft, and the second axle is power shaft, and described actuating device constitutes accelerator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410452208.7A CN104265844B (en) | 2014-09-09 | 2014-09-09 | Full-depth tooth drives eccentric active-tooth transmission |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410452208.7A CN104265844B (en) | 2014-09-09 | 2014-09-09 | Full-depth tooth drives eccentric active-tooth transmission |
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| CN104265844A CN104265844A (en) | 2015-01-07 |
| CN104265844B true CN104265844B (en) | 2016-06-29 |
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| CN112377576A (en) * | 2020-12-03 | 2021-02-19 | 福建思普计量检测科技有限公司 | Gear accelerating transmission structure |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102312960A (en) * | 2011-08-29 | 2012-01-11 | 浙江恒丰泰减速机制造有限公司 | Precision oscillating tooth transmission reducer |
| CN102359555B (en) * | 2011-08-29 | 2013-11-06 | 浙江恒丰泰减速机制造有限公司 | Precise cycloidal movable tooth transmission speed reducer |
| CN102562956B (en) * | 2011-12-31 | 2014-07-02 | 北京工业大学 | External wave type compound rolling moveable teeth speed reducer |
| CN204061748U (en) * | 2014-09-09 | 2014-12-31 | 浙江恒丰泰减速机制造有限公司 | Full-depth tooth drives eccentric active-tooth transmission |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005201310A (en) * | 2004-01-14 | 2005-07-28 | Nabtesco Corp | Eccentric oscillation type planetary gear device |
| WO2008101235A1 (en) * | 2007-02-16 | 2008-08-21 | Delbert Tesar | Manufacture and use of parallel eccentric electro-mechanical actuator |
| JP2010065803A (en) * | 2008-09-12 | 2010-03-25 | Nabtesco Corp | Eccentrically oscillating gear device |
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2014
- 2014-09-09 CN CN201410452208.7A patent/CN104265844B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102312960A (en) * | 2011-08-29 | 2012-01-11 | 浙江恒丰泰减速机制造有限公司 | Precision oscillating tooth transmission reducer |
| CN102359555B (en) * | 2011-08-29 | 2013-11-06 | 浙江恒丰泰减速机制造有限公司 | Precise cycloidal movable tooth transmission speed reducer |
| CN102562956B (en) * | 2011-12-31 | 2014-07-02 | 北京工业大学 | External wave type compound rolling moveable teeth speed reducer |
| CN204061748U (en) * | 2014-09-09 | 2014-12-31 | 浙江恒丰泰减速机制造有限公司 | Full-depth tooth drives eccentric active-tooth transmission |
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Address after: 325000 Wenzhou economic and Technological Development Zone, Zhejiang Binhai Road, No. 1489 Patentee after: Hengfengtai precision machinery Limited by Share Ltd Address before: 325000 Wenzhou Province Economic and Technological Development Zone, Binhai District, Binhai Road, No., No. ten, No. 1489 Patentee before: Zhejiang Hengfengtai Reducer MFG Co., Ltd |
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Denomination of invention: Full-tooth-driven eccentric oscillating tooth transmission device Effective date of registration: 20200622 Granted publication date: 20160629 Pledgee: China Minsheng Banking Corp Wenzhou branch Pledgor: HENGFENGTAI PRECISION MACHINERY Co.,Ltd. Registration number: Y2020330000377 |
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Date of cancellation: 20220308 Granted publication date: 20160629 Pledgee: China Minsheng Banking Corp Wenzhou branch Pledgor: HENGFENGTAI PRECISION MACHINERY CO.,LTD. Registration number: Y2020330000377 |
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Denomination of invention: Full tooth drive eccentric movable tooth transmission device Effective date of registration: 20220314 Granted publication date: 20160629 Pledgee: China Minsheng Banking Corp Wenzhou branch Pledgor: HENGFENGTAI PRECISION MACHINERY CO.,LTD. Registration number: Y2022980002601 |
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